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Información general |
| Autor |
Spedicato, Luigi; Giannoccaro, Nicola Ivan; Reina, Giulio; Bellone, Mauro |
| Publicado |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper the authors present three
methods to detect the position and orientation of an
observer, such as a mobile robot, with respect to a
corridor wall. They use an inexpensive sensor to
spread a wide ultrasonic beam. The sensor is rotated
by means of an accurate servomotor in order to
propagate ultrasonic waves towards a regular wall.
Whatever the wall material may be the scanning
surface appears to be an acoustic reflector as a
consequence of low air impedance. The realized device
is able to give distance information in each motor
position and thus permits the derivation of a set of
points as a ray trace‐scanner. The dataset contains
points lying on a circular arc and relating to strong
returns. Three different approaches are herein
considered to estimate both the slope of the wall and
its minimum distance from the sensor. Slope and
perpendicular distance are the parameters of a target
plane, which may be calculated in each observer’s
position to predict its new location. Experimental tests
and simulations are shown and discussed by scanning
from different stationary locations. They allow the
appreciation of the effectiveness of the proposed
approaches. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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